/*
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/** @author Jia Pan */

#ifndef HPP_FCL_BROADPHASE_DETAIL_INTERVALTREENODE_H
#define HPP_FCL_BROADPHASE_DETAIL_INTERVALTREENODE_H

#include "hpp/fcl/broadphase/detail/simple_interval.h"
#include "hpp/fcl/fwd.hh"

namespace hpp {
namespace fcl {

namespace detail {

class HPP_FCL_DLLAPI IntervalTree;

/// @brief The node for interval tree
class HPP_FCL_DLLAPI IntervalTreeNode {
 public:
  friend class IntervalTree;

  /// @brief Create an empty node
  IntervalTreeNode();

  /// @brief Create an node storing the interval
  IntervalTreeNode(SimpleInterval* new_interval);

  ~IntervalTreeNode();

  /// @brief Print the interval node information: set left = nil and right =
  /// root
  void print(IntervalTreeNode* left, IntervalTreeNode* right) const;

 protected:
  /// @brief interval stored in the node
  SimpleInterval* stored_interval;

  FCL_REAL key;

  FCL_REAL high;

  FCL_REAL max_high;

  /// @brief red or black node: if red = false then the node is black
  bool red;

  IntervalTreeNode* left;

  IntervalTreeNode* right;

  IntervalTreeNode* parent;
};

}  // namespace detail
}  // namespace fcl
}  // namespace hpp

#endif
